Grabity: A Virtual Reality Haptic Controller for Creating Gravity and Stiffness during Grasping Motions Through Asymmetric vibrations

1. A device to simulate kinesthetic pad opposition grip forces and weight for grasping virtual objects in a virtual reality, comprising: (a) a base, wherein the base has a first finger pad; (b) a sliding part moveably connected with the base, wherein the sliding part has a second finger pad, wherein the moveable connection allows for pinching motions between the first finger pad and the second finger pad for grasping an object, (c) a brake mechanism on the sliding part as a first actuator, wherein the brake mechanism is used to create a grasping force; and (d) a swinging part moveably connected to the sliding part and the base, wherein the swinging part comprises second actuators for transmission of vibration signals to provide both touch sensation and weight sensation when grasping the object.